A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

2013 ◽  
Author(s):  
Vinay Chawda ◽  
Ozkan Celik ◽  
Marcia K. O’Malley
Keyword(s):  
Cutoff Frequency ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Simulation Experiments ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Simulation Based ◽  
Position Data ◽  
Simulation Results ◽  
Velocity Filtering

This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance in haptic interfaces. Finite Difference Method (FDM) cascaded with a lowpass filter is the most commonly used technique for estimating velocity from position data in haptic interfaces. So far, there is no prescribed method for obtaining the FDM+filter cut-off frequency that will maximize the Z-width performance. We present a simulation based method to demonstrate that there exists such an ideal FDM+filter cut-off frequency, and that it can be predicted by numerical simulation. Experiments are conducted on a single degree-of-freedom linear haptic interface to validate the simulation results.

A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

2014 ◽  
Vol 137 (2) ◽  
Author(s):  
Vinay Chawda ◽  
Ozkan Celik ◽  
Marcia K. O'Malley
Keyword(s):  
Haptic Interface ◽  
Haptic Interfaces ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Simulation Based ◽  
Low Pass ◽  
Position Data ◽  
Velocity Filtering

This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance of haptic interfaces. Finite difference method (FDM) cascaded with a low pass filter is the most commonly used technique for estimating velocity from position data in haptic interfaces. So far, there is no prescribed method for obtaining the FDM + filter cut-off frequency that will maximize Z-width performance. We present a simulation based method to demonstrate that there exists such an ideal FDM + filter cut-off frequency, and that it can be predicted by numerical simulation based on an identified model of a haptic interface. Experiments are conducted on a single degree-of-freedom (DOF) linear haptic interface to validate the simulation results.

Iterative Learning Control for a Class of Modeling Undesirable Single Degree of Freedom System

2014 ◽  
Vol 538 ◽  
pp. 379-382
Author(s):  
Wei Zhou ◽  
Bao Bin Liu
Keyword(s):  
Iterative Learning Control ◽  
Learning Algorithm ◽  
Learning Control ◽  
Iterative Learning ◽  
Degree Of Freedom ◽  
Control Input ◽  
Convergence Properties ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Simulation Results

A class of modeling undesirable single degree of freedom system is studied by using iterative learning control. The proposed iterative learning algorithm constantly updates the control input according to output error until the desired output occurred. So the system with designed controller can achieve perfect accuracy. We have proved convergence properties in iteration domain and simulation results demonstrate the effectiveness of the presented method.

PARAMETER IDENTIFICATION OF A SINGLE DEGREE OF FREEDOM HAPTIC INTERFACE

2006 ◽  
Vol 39 (1) ◽  
pp. 249-254
Author(s):  
F. Khatounian ◽  
A. Janot ◽  
S. Moreau ◽  
C. Bidard ◽  
E. Monmasson ◽  
...  
Keyword(s):  
Parameter Identification ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Single Degree Of Freedom ◽  
Single Degree

Research on Modal Identification of Structures Using Robust Second-Order Blind Identification Technique

2013 ◽  
Vol 389 ◽  
pp. 712-720
Author(s):  
Jian Hua Du ◽  
Hong Wu Huang ◽  
Dian Dian Lan
Keyword(s):  
Second Order ◽  
Modal Identification ◽  
Mode Shapes ◽  
Blind Identification ◽  
Separation Algorithm ◽  
Single Degree Of Freedom ◽  
Second Order Statistics ◽  
Single Degree ◽  
Identification Technique ◽  
Simulation Results

The paper discusses the basic principle of blind source separation algorithm applying in structural modal identification. By improving the signal-whitening method, a robust second-order blind identification (RSOBI) algorithm is established on the basis of second-order statistics. The modal responses and mode shapes can be obtained using the RSOBI algorithm from the observed data of structures in time domain. Frequency and damping are estimated from the modal responses by traditional single degree of freedom methods. The simulation results show that the RSOBI algorithm has good performance in modal identification of structures.

An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System

2001 ◽  
Author(s):  
John E. Speich ◽  
Liang Shao ◽  
Michael Goldfarb
Keyword(s):  
Experimental Data ◽  
Second Order ◽  
Degree Of Freedom ◽  
Human Interaction ◽  
Haptic Interfaces ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Lumped Parameter ◽  
Mass Spring ◽  
System 1

Abstract This paper describes the development of a linear single degree-of-freedom lumped-parameter hand/arm model for the operator of a telemanipulaton system. The model form and parameters were determined from experimental data taken from a single degree-of-freedom telemanipulation system. Typically, the human is modeled as a second order mass-spring-damper system [1, 2]. The model developed in this paper, however, includes an additional spring and damper to better approximate the dynamics of the human while interacting with the manipulator. This model can be used in the design and simulation of control architectures for telemanipulation systems and haptic interfaces.

An Experimental Study of a Single-Degree-of-Freedom Impact Oscillator

2021 ◽  
Author(s):  
Shun Zhong ◽  
Jingyuan Tan ◽  
Zhicheng Cui ◽  
Tanghong Xu ◽  
Liqing Li
Keyword(s):  
Dynamical Behavior ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Physical Parameters ◽  
Impact Oscillator ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Design Choice ◽  
Wide Range ◽  
Simulation Results

Purpose. Impacts appear in a wide range of mechanical systems. To study the dynamical behavior introduced by impact in practical way, a single-degree-of-freedom impact oscillator rig is designed. Originality. A simple piece-wise linear system with symmetrical flexible constraints is designed and manufactured to carry out a wide range of experimental dynamic analysis and ultimately to validate piece-wise models. The new design choice is based on the following criteria: accuracy in representing the mathematical model, manufacturing simplicity, flexibility in terms of parameter changes and cost effectiveness as well avoidance of the delay introduced by the structure. Meanwhile, the new design provides the possibility of the applications of the complex control algorithms. Design/methodology/approach. The design process is described in detail. The initial experimental results of the rig as well as numerical simulation results are given. In this rig, the mass driven force is generated by electromagnet, which can be adjusted and control easily. Also, most of the physical parameters can be varied in a certain range to enhance flexibility of the system allowing to observe subtle phenomena. Findings. Compared with the simulation results, the designed rig is proved to be validated. Then, the initial experimental results demonstrate potentials of this rig to study fundamental impact phenomena, which have been observed in various engineering systems. They also indicate that this rig can be a good platform for investigating nonlinear control methods.

Method of Variable Parameter PID Control Applied for AMB System

2012 ◽  
Vol 150 ◽  
pp. 75-79
Author(s):  
Hao Nan Tan ◽  
Jian Sheng Zhang
Keyword(s):  
Mathematical Model ◽  
Pid Control ◽  
Pid Controller ◽  
Variable Parameter ◽  
Electromagnetic Theory ◽  
Single Degree Of Freedom ◽  
Variable Parameters ◽  
Single Degree ◽  
Simulation Results ◽  
Amb System

According to electromagnetic theory, A single degree of freedom mathematical model of AMB system was established. We design a variable parameter PID controller based on the model. And the simulation results express that the variable parameters PID controller was better in the lots of indicators compared with the traditional PID controller.

Piezoelectric Vibration Control of Translational Flexible Beams Using Switched Stiffness

2003 ◽  
Author(s):  
Arun Ramaratnam ◽  
Nader Jalili ◽  
Matt Grier
Keyword(s):  
Experimental Testing ◽  
Short Circuit ◽  
Degree Of Freedom ◽  
Flexible Beam ◽  
Flexible Beams ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Vibration Attenuation ◽  
Stiffness Method ◽  
Simulation Results

A switch-shunt stiffness method for vibration attenuation of flexible beams undergoing translational base motion with a laminated piezoelectric patch attachment is presented. The piezoelectric actuator, bonded on the top surface of the flexible beam, is switched between open and short circuit configurations. This results in a variable equivalent stiffness which, in turn, can remove energy from the overall system by directly affecting the stored potential energy in the flexible beam. Initially, a single degree of freedom system is considered for validation of the switched stiffness method. The method is then applied to a flexible beam with moving base, representing a Cartesian-type one-link robot manipulator. Simulation results demonstrate favorable vibration attenuation in both cases; the single degree of freedom oscillator and the cantilever flexible beam. Several variations of the switching mechanisms are explored in an effort to achieve optimal vibration characteristics. Experimental testing is currently under investigation for validation of the simulation results presented here.

A novel electro-hydraulic servo steering system for Ackermann steering of heavy multi-axle vehicle

2021 ◽  
pp. 095440702110633
Author(s):  
Zhizhong Zhang ◽  
Heng Du ◽  
Shumei Chen ◽  
Yuzheng Li ◽  
Han Wang
Keyword(s):  
Test Bench ◽  
Lagrange Equation ◽  
Experimental System ◽  
Steering System ◽  
Nonlinear Dynamic Model ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Cylinder Model ◽  
Hydraulic Servo ◽  
Simulation Results

Ackermann steering is important for the steering performance of heavy multi-axle vehicle. When Ackermann steering condition is not satisfied, it will lead to abnormal tire wear. Traditional trapezoidal mechanism of heavy multi-axle vehicle is a single degree of freedom (DOF) mechanism, which is difficult to completely realize Ackermann steering. In this paper, a new two DOF electro-hydraulic servo steering system (TDEHSSS) by using a variable length tie rod is proposed for solving the issue. First, a complex nonlinear dynamic model of TDEHSSS is established. This model includes the two DOF mechanical model based on a Lagrange equation, the valve-controlled double steering power cylinders model and the valve-controlled tie rod cylinder model. Then, a simulation model is built through MATLAB/Simulink and the simulation results show that TDEHSSS can realize the proposed requirement. At last, a test bench is founded to verify model. It is indicated that the simulation and experimental curves are consistent, showing that mathematical model is in accordance with the experimental system. This research is valuable for analyzing TDEHSSS, designing advanced controllers, and finally realizing Ackermann steering for heavy multi-axle vehicles.

Low-G Electrostatically Actuated Resonant Switch

2012 ◽  
Author(s):  
Abdallah Ramini ◽  
Mohammad I. Younis ◽  
Quang T. Su
Keyword(s):  
Experimental Data ◽  
Response Curves ◽  
Single Degree Of Freedom ◽  
Electrostatically Actuated ◽  
Single Degree ◽  
Earthquake Detection ◽  
Switching Action ◽  
Simulation Results ◽  
Resonant Switch ◽  
Good Agreement

This work investigates a new concept of an electrostatically actuated resonant switch (EARS) for earthquake detection and low-g seismic applications. The resonator is proposed to operate close to instability bands of frequency-response curves, where it is forced to pull-in if operated within these bands. By careful tuning, the resonator can be made to enter the instability zone upon the detection of the earthquake signal, thereby pulling-in as a switch. Such a switching action can be functionalized for alarming purposes or can be used to activate a network of sensors for seismic activity recording. The EARS is modeled and its dynamic response is simulated using a nonlinear single degree of freedom model. Experimental investigation is conducted demonstrating the EARS capability of being triggered at small levels of acceleration as low as 0.02 g. Experimental data and simulation results are compared showing good agreement.

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